
# PREDEFINED CONSTANTS:
########################
WORKSPACE_SIZE = 92 # Workspace size in centimeter - height and width should be equal
OFFSET_ROBOTS = 1
VELOCITY = 0.25
WAIT_TIME = 0.5
NUM_OF_ROBOTS = 4
COM_PORT = 7
RIGHT_WHEEL_OFFSET = 0
LEFT_WHEEL_OFFSET = 0
ROTATION_TIME_360 = 2.42


# Calibration variables
RT1 = 2.5
RT2 = 2.74
RT3 = 2.59
RT4 = 2.65
RotationTimes = [0, RT1, RT2, RT3, RT4]

WR1 = 0
WL1 = 1
WR2 = 0
WL2 = 0
WR3 = 0
WL3 = 0
WR4 = 0
WL4 = 0

WHEEL_LEFT_OFFSETS = [0, WL1, WL2, WL3, WL4]
WHEEL_RIGHT_OFFSETS = [0, WR1, WR2, WR3, WR4]


EPSILON = 0.08 #Time between robot commands
SPEED = 0.3
CURR_ANGLE = 0
SPEED = 0.3
DISTANCE_EPSILON = 0.01 # Minimum length of movement that under it the robot will ignore the command
ANGLE_EPSILON = 1 # Minimum degree of angle that under it the robot will ignore the command
ANGLE_DIRECTION_EPSILON = 20
SLEEP_TIME_COMMANDS = 1
DIST_PARITY = 10

# Variables for working with the simulation
SIMULATION_SERVER_IP = "127.0.0.1" #IP of simulation server
SIMLUATION_SERVER_PORT = 9221
FILES_PATH = "C:\\Sadna\\"
